Ultrasonic scanning navigation methods, devices and storage media

Abstract

This invention relates to the field of ultrasound imaging technology, specifically to an ultrasound scanning navigation method, device, and storage medium. The invention includes: acquiring initial position information of an ultrasound probe; acquiring target position information of the target organ to be scanned in the same world coordinate system; acquiring several historical navigation paths of the ultrasound probe based on the target position information; determining a scanning navigation path for the ultrasound probe to scan the target organ from the several historical navigation paths based on the initial position information of the ultrasound probe; and guiding the ultrasound probe to scan the target organ according to the scanning navigation path. This invention enables navigation based on the historical navigation paths of the ultrasound probe, assisting physicians in performing ultrasound scans and improving their work efficiency.

Description

Technical Field

[0001] This invention relates to the field of ultrasound imaging technology, and in particular to an ultrasound scanning navigation method, device, and storage medium. Background Technology

[0002] Currently, when medical staff perform ultrasound imaging on patients, they hold the transducer in one hand and place it on the area to be examined for scanning. However, the location of organs varies among people of different heights, weights, and genders, and the placement of the ultrasound probe may not always be the area to be examined. Furthermore, some inexperienced operators, even knowing the area to be examined, cannot accurately locate it, and those without years of experience cannot meet the requirements for completing the scan and making a diagnosis. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an ultrasonic scanning navigation method, device and storage medium that can provide ultrasonic scanning navigation path.

[0004] As a first aspect of the present invention, the present invention provides an ultrasonic scanning navigation method, comprising:

[0005] Obtain the initial position information of the ultrasonic probe;

[0006] Acquire the target location information of the target organ to be scanned in the same world coordinate system;

[0007] Based on the target location information, several historical navigation paths of the ultrasonic probe are obtained;

[0008] The scanning navigation path for the target organ to be scanned by the ultrasound probe is determined from the plurality of historical navigation paths based on the initial position information of the ultrasound probe.

[0009] The ultrasound probe is guided to scan the target organ according to the scanning navigation path.

[0010] Furthermore, guiding the ultrasound probe to scan the target organ according to the scanning navigation path includes:

[0011] The scanning navigation path is displayed on the monitor and / or on the surface of the object being inspected.

[0012] Furthermore, obtaining the initial position information of the ultrasound probe includes:

[0013] The initial position information of the ultrasonic probe is obtained by a magnetic sensor, which includes a magnetic emitter and a magnetic sensor; and / or

[0014] The initial position information of the ultrasonic probe is obtained through a camera.

[0015] Further, determining the scanning navigation path for the target organ to be scanned by the ultrasound probe from among the several historical navigation paths based on the initial position information of the ultrasound probe includes:

[0016] Based on the initial position information of the ultrasonic probe, determine whether the ultrasonic probe is located on any one of the several historical navigation paths;

[0017] If the ultrasound probe is located on any one of the several historical navigation paths, then the corresponding historical navigation path is determined as the scanning navigation path;

[0018] If the ultrasound probe is not on any historical navigation path, then the historical navigation path with the shortest distance to the ultrasound probe among the several historical navigation paths will be determined as the scanning navigation path.

[0019] Furthermore, if the ultrasound probe is located on any one of the several historical navigation paths, then the corresponding historical navigation path is determined as the scanning navigation path, specifically including:

[0020] If the ultrasound probe is located on only one of the several historical navigation paths, the corresponding historical navigation path will be determined as the scanning navigation path.

[0021] If the ultrasound probe is simultaneously located on multiple historical navigation paths, the historical navigation path with the most navigation times is selected as the scanning navigation path.

[0022] Furthermore, if the ultrasound probe is simultaneously located on multiple historical navigation paths among the several historical navigation paths, the historical navigation path with the most navigation times is selected as the scanning navigation path, specifically including:

[0023] If at least two of the multiple historical navigation paths where the ultrasound probe is located are the historical navigation paths with the most navigation times, then the scanning navigation path is determined based on the remaining scanning distance of the ultrasound probe on the corresponding historical navigation path.

[0024] Furthermore, when the ultrasonic probe deviates from the scanning navigation path by a distance within a preset distance range, a deviation warning is issued. The deviation warning includes one or more of the following: indicator light warning, voice warning, and tactile warning.

[0025] Furthermore, when the ultrasonic probe deviates from the scanning navigation path by a distance exceeding a preset distance range, the historical navigation path with the shortest distance to the ultrasonic probe among the several historical navigation paths is determined as the scanning navigation path.

[0026] As a second aspect of the present invention, an ultrasonic scanning navigation device is provided, comprising:

[0027] The first acquisition unit acquires the initial position information of the ultrasonic probe;

[0028] The second acquisition unit acquires the target location information of the target organ to be scanned in the same world coordinate system;

[0029] The third acquisition unit acquires several historical navigation paths of the ultrasonic probe based on the target location information;

[0030] The processing unit determines the scanning navigation path of the ultrasound probe to scan the target organ from the plurality of historical navigation paths based on the initial position information of the ultrasound probe.

[0031] The guidance unit guides the ultrasound probe to scan the target organ according to the scanning navigation path.

[0032] As a third aspect of the present invention, a computer storage medium is provided, wherein a computer program is stored therein, and the computer program, when executed by a processor, is used to implement the steps of the ultrasonic scanning navigation method described in any of the preceding claims.

[0033] The ultrasound scanning navigation method of the present invention obtains the initial position information of the ultrasound probe and several historical scanning paths corresponding to the target organ, and confirms the scanning navigation path of the ultrasound probe from several historical scanning paths. It eliminates the need to plan the navigation path based on the initial position information of the ultrasound probe and the target position information of the target organ, and is fast and accurate, which greatly improves the efficiency of ultrasound scanning for physicians. Attached Figure Description

[0034] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0035] Figure 1 This is a flowchart illustrating the ultrasonic scanning navigation method of the present invention.

[0036] Figure 2 This is a schematic diagram of the ultrasonic scanning navigation device of the present invention. Detailed Implementation

[0037] Currently, when medical staff perform ultrasound imaging on patients, they hold the transducer in one hand and place it on the area to be examined for scanning. However, the location of organs varies among people of different heights, weights, and genders, and the placement of the ultrasound probe may not always be the area to be examined. Furthermore, some inexperienced operators, even knowing the area to be examined, cannot accurately locate it, and those without years of experience cannot meet the requirements for completing the scan and making a diagnosis.

[0038] The present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid overwhelming the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art. Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for clearly describing a particular embodiment and do not imply a necessary order, unless otherwise stated that a certain order must be followed.

[0039] As one aspect of the present invention, such as Figure 1 As shown, the present invention provides an ultrasonic scanning navigation method, comprising:

[0040] Step S100: Obtain the initial position information of the ultrasonic probe;

[0041] Step S200: Obtain the target location information of the target organ to be scanned in the same world coordinate system;

[0042] Step S300: Obtain several historical navigation paths of the ultrasonic probe based on the target location information;

[0043] Step S400: Determine the scanning navigation path of the ultrasound probe to scan the target organ from the plurality of historical navigation paths based on the initial position information of the ultrasound probe.

[0044] Step S500: Guide the ultrasound probe to scan the target organ according to the scanning navigation path.

[0045] The ultrasound scanning navigation method of the present invention obtains the initial position information of the ultrasound probe and several historical scanning paths corresponding to the target organ, and confirms the scanning navigation path of the ultrasound probe from several historical scanning paths. It eliminates the need to plan the navigation path based on the initial position information of the ultrasound probe and the target position information of the target organ, and is fast and accurate, which greatly improves the efficiency of ultrasound scanning for physicians.

[0046] This invention acquires the initial position information of an ultrasound probe through a magnetic sensor. The magnetic sensor includes a magnetic emitter and a magnetic inductor. The magnetic emitter emits a magnetic field, essentially establishing a world coordinate system. The position information of the ultrasound probe can then be obtained through the magnetic inductor located within the probe. Alternatively, the initial position information of the ultrasound probe can be acquired through a camera. It is important to understand that in this case, the video captured by the camera includes both the target organ and the ultrasound probe. The camera essentially establishes a world coordinate system, and the positional relationship between the ultrasound probe and the target organ can be obtained from the video.

[0047] Furthermore, the target location information of the organ to be scanned is obtained within the same world coordinate system. Currently, most methods for planning ultrasound-guided paths involve obtaining the initial position information of the ultrasound probe and the location information of the organ to be scanned, and then planning the scanning path based on the shortest distance between the ultrasound probe and the organ. The accuracy of the scanning path planned using this method is uncertain, and the method of using the shortest distance between two points as the planning basis does not take into account that the target organ is not planar when it is on the surface of the body, such as the breast. It also does not consider the physician's routine operating habits; different organs may be suitable for the same planning principle for path planning.

[0048] This invention obtains the scanning navigation path of an ultrasound probe based on a set of historical navigation paths used by physicians to scan different organs using the ultrasound probe. Specifically, the scanning navigation path for the target organ is determined from a set of historical navigation paths based on the initial position information of the ultrasound probe. Determining the scanning navigation path for the target organ includes:

[0049] Based on the initial position information of the ultrasound probe, it is determined whether the ultrasound probe is located on any one of the several historical navigation paths. If the ultrasound probe is located on any one of the several historical navigation paths, the corresponding historical navigation path is determined as the scanning navigation path. That is, if the ultrasound probe is located on a historical navigation path, the corresponding historical navigation path can be determined as the scanning navigation path. There is no need to plan the path based on the initial position information of the ultrasound probe and the target position information of the target organ, which greatly improves the speed of obtaining the scanning navigation path of the ultrasound probe.

[0050] If the ultrasound probe is not on any historical navigation path, the historical navigation path with the shortest distance to the ultrasound probe among the several historical navigation paths is determined as the scanning navigation path. That is, the ultrasound probe is first moved to the optimal historical navigation path, and the corresponding historical navigation path is determined as the scanning navigation path. It should be understood that although this invention also uses the shortest distance between the ultrasound probe and the historical navigation path as the selection criterion, this invention still uses the historical navigation paths of the doctor's operation of the ultrasound probe to scan the target organ to determine the scanning navigation path of the ultrasound probe in this case.

[0051] In one embodiment, if multiple historical navigation paths partially overlap or intersect, it is necessary to determine whether only one historical navigation path meets the criteria based on the initial position information of the ultrasound probe and the multiple historical navigation paths. If the ultrasound probe is located on only one of the multiple historical navigation paths, the corresponding historical navigation path is determined as the scanning navigation path; if the ultrasound probe is located on multiple historical navigation paths simultaneously, the historical navigation path with the most navigation times is selected as the scanning navigation path.

[0052] When multiple historical navigation paths partially overlap or intersect, and the ultrasound probe is simultaneously located on multiple historical navigation paths, the historical navigation path with the most navigation visits is selected as the scanning navigation path. Specifically, if at least two of the historical navigation paths on which the ultrasound probe is located are the historical navigation paths with the most navigation visits, the scanning navigation path is determined based on the remaining scanning distance of the ultrasound probe on the corresponding historical navigation path. For example, if there are two historical navigation paths with the most navigation visits that meet the criteria, the scanning navigation path is determined based on the remaining scanning distance of the ultrasound probe along the two historical navigation paths to scan the target organ. For example, if historical navigation path A requires the ultrasound probe to move 2cm, and historical navigation path B requires the ultrasound probe to move another 3cm, then historical navigation path A is selected as the scanning navigation path for the current ultrasound probe scan.

[0053] In one embodiment, when the ultrasound probe deviates from the scanning navigation path by a distance within a preset distance range, a deviation warning is issued. The deviation warning includes one or more of the following: indicator light warning, voice warning, and tactile warning. The tactile warning can control the touch sensitivity of the ultrasound probe, allowing the physician to determine whether the probe has deviated from the scanning navigation path. The greater the deviation, the greater the frequency and amplitude of the tactile warning. Since the deviation of the ultrasound probe from the scanning navigation path is relatively small, there is no need to replan the path; simply prompting the ultrasound probe to return to the original scanning navigation path and continue moving is sufficient. When the ultrasound probe deviates from the scanning navigation path by a distance exceeding the preset distance range, the historical navigation path with the shortest distance to the ultrasound probe among several historical navigation paths is determined as the new scanning navigation path. Preferably, the preset distance is 0.5 cm.

[0054] When the ultrasound probe is guided to scan the target organ according to the scanning navigation path, the scanning navigation path is displayed on a monitor. The monitor of this invention includes displays for VR, AR, and other display devices. The scanning navigation path is displayed on the surface of the object being examined. Specifically, the scanning navigation path can be displayed on the surface of the object being examined via a projection device or a laser guidance device. When the ultrasound probe deviates from the scanning navigation path by a distance within a preset distance range, a deviation warning is issued. The deviation warning includes one or more of the following: indicator light warning, voice warning, and tactile warning.

[0055] As a second aspect of the invention, such as Figure 2 The ultrasonic scanning navigation device of the present invention includes:

[0056] The first acquisition unit acquires the initial position information of the ultrasonic probe;

[0057] The second acquisition unit acquires the target location information of the target organ to be scanned in the same world coordinate system;

[0058] The third acquisition unit acquires several historical navigation paths of the ultrasonic probe based on the target location information;

[0059] The processing unit determines the scanning navigation path of the ultrasound probe to scan the target organ from the plurality of historical navigation paths based on the initial position information of the ultrasound probe.

[0060] The guidance unit guides the ultrasound probe to scan the target organ according to the scanning navigation path.

[0061] Units can advantageously be configured to reside in addressable storage media and to execute on one or more processors. Thus, as examples, units can include components (such as software components, object-oriented software components, class components, and task components), processes, functions, attributes, procedures, subroutines, program code segments, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided in components and units can be combined into fewer components and units or further divided into additional components and units.

[0062] The ultrasound scanning navigation device of the present invention obtains the initial position information of the ultrasound probe and several historical scanning paths corresponding to the target organ, and confirms the scanning navigation path of the ultrasound probe from several historical scanning paths. It eliminates the need to plan the navigation path based on the initial position information of the ultrasound probe and the target position information of the target organ, and is fast and accurate, which greatly improves the efficiency of ultrasound scanning for physicians.

[0063] As a third aspect of the present invention, a computer storage medium is provided, wherein a computer program is stored in the computer storage medium, and the computer program, when executed by a processor, is used to implement the steps of the ultrasonic scanning navigation method described in any of the preceding claims. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium may also include combinations of the above types of memory.

[0064] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An ultrasonic scanning navigation method, characterized in that, include: Obtain the initial position information of the ultrasonic probe; Acquire the target location information of the target organ to be scanned in the same world coordinate system; Based on the target location information, several historical navigation paths of the ultrasonic probe are obtained; The scanning navigation path for the target organ to be scanned by the ultrasound probe is determined from the plurality of historical navigation paths based on the initial position information of the ultrasound probe. The ultrasound probe is guided to scan the target organ according to the scanning navigation path. The step of determining the scanning navigation path for the target organ to be scanned by the ultrasound probe from the plurality of historical navigation paths based on the initial position information of the ultrasound probe includes: Based on the initial position information of the ultrasonic probe, determine whether the ultrasonic probe is located on any one of the several historical navigation paths; If the ultrasound probe is located on any one of the several historical navigation paths, then the corresponding historical navigation path is determined as the scanning navigation path; If the ultrasound probe is not on any historical navigation path, then the historical navigation path with the shortest distance to the ultrasound probe among the several historical navigation paths will be determined as the new navigation path. If the ultrasound probe is located on any one of the several historical navigation paths, then the corresponding historical navigation path is determined as the scanning navigation path, specifically including: If the ultrasound probe is located on only one of the several historical navigation paths, the corresponding historical navigation path will be determined as the scanning navigation path. If the ultrasound probe is simultaneously located on multiple historical navigation paths, the historical navigation path with the most navigation times is selected as the scanning navigation path.

2. The ultrasonic scanning navigation method according to claim 1, characterized in that, The step of guiding the ultrasound probe to scan the target organ according to the scanning navigation path includes: The scanning navigation path is displayed on the monitor and / or on the surface of the object being inspected.

3. The ultrasonic scanning navigation method according to claim 1, characterized in that, The acquisition of the initial position information of the ultrasound probe includes: The initial position information of the ultrasonic probe is obtained by a magnetic sensor, which includes a magnetic emitter and a magnetic sensor; and / or The initial position information of the ultrasonic probe is obtained through a camera.

4. The ultrasonic scanning navigation method according to claim 1, characterized in that, If the ultrasound probe is simultaneously located on multiple historical navigation paths, the historical navigation path with the most navigation occurrences is selected as the scanning navigation path. Specifically, this includes: If at least two of the multiple historical navigation paths where the ultrasound probe is located are the historical navigation paths with the most navigation times, then the scanning navigation path is determined based on the remaining scanning distance of the ultrasound probe on the corresponding historical navigation path.

5. The ultrasonic scanning navigation method according to any one of claims 1-4, characterized in that, When the ultrasonic probe deviates from the scanning navigation path by a distance within a preset distance range, a deviation warning is issued. The deviation warning includes one or more of the following: indicator light warning, voice warning, and tactile warning.

6. The ultrasonic scanning navigation method according to any one of claims 1-4, characterized in that, When the ultrasonic probe deviates from the scanning navigation path by a distance exceeding a preset distance range, the historical navigation path with the shortest distance to the ultrasonic probe among the several historical navigation paths is determined as the scanning navigation path.

7. An ultrasonic scanning navigation device, characterized in that, include: The first acquisition unit acquires the initial position information of the ultrasonic probe; The second acquisition unit acquires the target location information of the target organ to be scanned in the same world coordinate system; The third acquisition unit acquires several historical navigation paths of the ultrasonic probe based on the target location information; The processing unit determines the scanning navigation path of the ultrasound probe to scan the target organ from the plurality of historical navigation paths based on the initial position information of the ultrasound probe. The guidance unit guides the ultrasound probe to scan the target organ according to the scanning navigation path; The step of determining the scanning navigation path for the target organ to be scanned by the ultrasound probe from the plurality of historical navigation paths based on the initial position information of the ultrasound probe includes: Based on the initial position information of the ultrasonic probe, determine whether the ultrasonic probe is located on any one of the several historical navigation paths; If the ultrasound probe is located on any one of the several historical navigation paths, then the corresponding historical navigation path is determined as the scanning navigation path; If the ultrasound probe is not on any historical navigation path, then the historical navigation path with the shortest distance to the ultrasound probe among the several historical navigation paths will be determined as the new navigation path. If the ultrasound probe is located on any one of the several historical navigation paths, then the corresponding historical navigation path is determined as the scanning navigation path, specifically including: If the ultrasound probe is located on only one of the several historical navigation paths, the corresponding historical navigation path will be determined as the scanning navigation path. If the ultrasound probe is simultaneously located on multiple historical navigation paths, the historical navigation path with the most navigation times is selected as the scanning navigation path.

8. A computer storage medium, characterized in that, The computer storage medium stores a computer program, which, when executed by a processor, is used to implement the steps of the ultrasonic scanning navigation method as described in any one of claims 1 to 6.

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